Ndiri kuburitsa chitsauko chekutanga chehurukuro pamusoro pedzidziso ye otomatiki control, mushure mezvo hupenyu hwako hauzombofi hwakafanana.

Zvidzidzo zvekosi "Management of Technical Systems" inopiwa naOleg Stepanovich Kozlov kuDhipatimendi re "Nuclear Reactors uye Power Plants", Faculty ye "Power Mechanical Engineering" yeMSTU. N.E. Bauman. Ndizvo zvandinomutenda zvikuru.

Hurukuro idzi dziri kungogadzirirwa kudhindwa mumabhuku, uye sezvo kuine nyanzvi dzeTAU, vadzidzi, uye avo vanongofarira nyaya yacho, chero kutsoropodza kunogamuchirwa.

1. Mafungiro ekutanga edzidziso yekutonga kwehunyanzvi masisitimu

1.1. Zvinangwa, misimboti yekutarisira, marudzi emanejimendi masisitimu, tsanangudzo dzekutanga, mienzaniso

Kuvandudza uye kuvandudzwa kwekugadzirwa kwemaindasitiri (simba, zvekufambisa, mechanical engineering, space technology, nezvimwewo) zvinoda kuwedzera kuenderera mberi kwekugadzirwa kwemichina nemayuniti, kuvandudza mhando yechigadzirwa, kuderedza mutengo uye, kunyanya musimba renyukireya, kuwedzera kwakanyanya chengetedzo (nyukireya, mwaranzi, zvichingodaro) .d.) kushanda kwezvicherwa zvemagetsi enyukireya nekuisa kwenyukireya.

Kuzadzikiswa kwezvinangwa zvakatemwa hazvigoneke pasina kuiswa kwemaitiro emazuva ano ekutonga, kusanganisira zvese otomatiki (pamwe nekubatanidzwa kwemunhu anoshanda) uye otomatiki (pasina kubatanidzwa kweanoshanda munhu) control system (CS).

Tsanangudzo: Management isangano reimwe tekinoroji maitiro anovimbisa kuzadzikiswa kwechinangwa chakatemwa.

Kudzora dzidziso ibazi resainzi yemazuva ano uye tekinoroji. Iyo yakavakirwa (yakavakirwa) pane ese akakosha (general sainzi) chirango (somuenzaniso, masvomhu, fizikisi, chemistry, nezvimwewo) uye kushandiswa kuraira (electronics, microprocessor tekinoroji, programming, nezvimwewo).

Chero maitiro ekutonga (otomatiki) ane anotevera nhanho huru (zvinhu):

• kuwana ruzivo pamusoro pebasa rekutonga;
• kuwana ruzivo pamusoro pechigumisiro chehutungamiri;
• kuongororwa kwemashoko akagamuchirwa;
• kushandiswa kwechisarudzo (kukanganisa pane chinhu chekutonga).

Kuti uite iyo Management process, iyo manejimendi system (CS) inofanirwa kuve:

• masosi eruzivo nezve manejimendi basa;
• masosi eruzivo nezve mhedzisiro mhedzisiro (akasiyana masensa, ekuyeresa michina, ma detectors, nezvimwewo);
• zvishandiso zvekuongorora ruzivo rwakagamuchirwa uye kugadzira mhinduro;
• actuators inoshanda paChinhu Chekudzora, ine: regulator, mota, amplification-inoshandura zvishandiso, nezvimwe.

Tsanangudzo: Kana iyo control system (CS) ine ese ari pamusoro apa zvikamu, zvino inovharwa.

Tsanangudzo: Kudzora kwechinhu chehunyanzvi uchishandisa ruzivo pamusoro pemhedzisiro yekudzora inonzi iyo mhinduro musimboti.

Schematically, yakadaro control system inogona kumiririrwa se:

Mupunga. 1.1.1 - Chimiro cheiyo control system (MS)

Kana iyo control system (CS) ine block diagraph, iyo fomu inofanana neFig. 1.1.1, uye mabasa (anoshanda) pasina munhu (mushandisi) kutora chikamu, anobva anzi otomatiki control system (ACS).

Kana iyo control system inoshanda nekubatanidzwa kwemunhu (operator), iyo inonzi automated control system.

Kana iyo Kudzora ichipa mutemo wakapihwa wekuchinja kwechinhu munguva, zvisinei nemhedzisiro yekutonga, saka kutonga kwakadaro kunoitwa mune yakavhurika loop, uye kutonga pachayo kunonzi. purogiramu inodzorwa.

Vhura-loop masisitimu anosanganisira maindasitiri emuchina (mitsetse yekutakura, mitsara inotenderera, nezvimwewo), komputa nhamba yekudzora nhamba (CNC) michina: ona muenzaniso muFig. 1.1.2.

Fig.1.1.2 - Muenzaniso wekutonga kwepurogiramu

Iyo master device inogona kuva, semuenzaniso, "copier".

Sezvo mumuenzaniso uyu pasina ma sensors (mamita) anotarisa chikamu chiri kugadzirwa, kana, semuenzaniso, mucheki akaiswa zvisizvo kana akaputsika, ipapo chinangwa chakatarwa (kugadzirwa kwechikamu) hachigone kuwanikwa (kuitika). Kazhinji, muzvirongwa zverudzi urwu, kutonga kwekubuda kunodiwa, izvo zvinongonyora kutsauka kwezviyero uye chimiro chechikamu kubva kune chinodiwa.

Automatic control system yakakamurwa kuita matatu marudzi:

• otomatiki kudzora masisitimu (ACS);
• otomatiki kudzora masisitimu (ACS);
• Kutevera masisitimu (SS).

SAR uye SS zvikamu zviduku zvepfuti dzinozvifambisa ==> .

Tsanangudzo: Iyo otomatiki yekudzora sisitimu inovimbisa kugara kwehumwe huwandu hwemuviri (boka rehuwandu) muchinhu chekudzora chinonzi otomatiki control system (ACS).

Otomatiki kudzora masisitimu (ACS) ndiyo yakajairika mhando yeautomatic control system.

Yekutanga otomatiki regulator yenyika (zana ramakore rechi 18) ndiye Watt regulator. Ichi chirongwa (ona Fig. 1.1.3) yakashandiswa naWatt muEngland kuchengetedza kukurumidza kukurumidza kutenderera kwevhiri rejini injini uye, maererano naizvozvo, kuchengetedza nguva dzose yekutenderera (kufamba) kwepulley yekutumira (bhanhire). )

Muchirongwa ichi sensitive elements (measuring sensors) ndiwo "zviyereso" (spheres). "Huremu" (spheres) zvakare "kumanikidza" ruoko rwe rocker uyezve vharafu kufamba. Naizvozvo, iyi sisitimu inogona kuverengerwa seyakananga control system, uye iyo regulator inogona kuiswa se direct acting regulator, sezvo ichiita panguva imwe chete mabasa ezvose zviri zviviri "mita" uye "regulator".

In zvakananga kuita regulators mamwe mabviro hapana simba rinodiwa kufambisa regulator.

Mupunga. 1.1.3 - Watt otomatiki regulator dunhu

Indirect control system inoda kuvepo (kuvapo) kweamplifier (somuenzaniso, simba), imwe actuator ine, semuenzaniso, mota yemagetsi, servomotor, hydraulic drive, nezvimwe.

Muenzaniso weiyo otomatiki control system (automatic control system), mupfungwa izere yetsanangudzo iyi, inodzora sisitimu inovimbisa kutangwa kweroketi mu orbit, uko inodzorwa shanduko inogona kuve, semuenzaniso, kona pakati pe roketi. axis uye zvakajairika kuPasi ==> ona Fig. 1.1.4.a uye fig. 1.1.4.b

Mupunga. 1.1.4(a)

Mupunga. 1.1.4 (b)

1.2. Chimiro chekutonga masisitimu: nyore uye multidimensional masisitimu

Mune dzidziso yeTechnical Systems Management, chero system inowanzo kupatsanurwa kuita seti yezvibatanidza zvakabatanidzwa mune network zvimiro. Muchiitiko chakareruka, sisitimu yacho ine chinongedzo chimwechete, iyo inopinza iyo inopihwa nechiito chekuisa (input), uye mhinduro yehurongwa (kubuda) inowanikwa pane yekuisa.

Mune dzidziso yeTechnical Systems Management, 2 nzira huru dzekumiririra zvinongedzo zvekutonga masisitimu dzinoshandiswa:

- mu "input-output" zvakasiyana-siyana;

- mumarudzi akasiyana-siyana (kuti uwane mamwe mashoko, ona zvikamu 6 ... 7).

Kumiririrwa muzvinyorwa zvekupinza-kubuda kunowanzoshandiswa kutsanangura masisitimu ari nyore ane "inopinza" (imwe yekudzora chiito) uye imwe "inobuda" (imwe inodzorwa shanduko, ona Mufananidzo 1.2.1).

Mupunga. 1.2.1 - Schematic inomiririra yeyakapusa control system

Kazhinji, tsananguro iyi inoshandiswa kune tekinoroji yakapusa otomatiki kudzora masisitimu (otomatiki control system).

Munguva pfupi yapfuura, kumiririrwa mumhando dzehurumende kwave kupararira, kunyanya kune masisitimu akaomarara, anosanganisira multidimensional otomatiki kudzora masisitimu. Mumufananidzo. 1.2.2 inoratidza schematic chinomiririra multidimensional otomatiki kudzora hurongwa, apo u1(t)...um(t) - kudzora zviito (control vector), y1(t)…yp(t) - inogadziriswa paramita yeACS (output vector).

Mupunga. 1.2.2 - Schematic inomiririra yeakawanda dhimensional control system

Ngationgororei zvakadzama chimiro che ACS, inomiririrwa mu "input-output" inoshanduka uye ine imwe yekupinda (yekupinda kana tenzi, kana kudzora chiito) uye imwe yakabuda (yakabuda chiito kana inodzorwa (kana inogadziriswa) inoshanduka).

Ngatitorei kuti dhiyabhorosi dhizaini yeiyo ACS ine imwe nhamba yezvinhu (links). Nekuisa mumapoka ezvisungo zvinoenderana neanoshanda musimboti (izvo zvinongedzo zvinoita), iyo dhizaini yeACS inogona kudzikiswa kune inotevera yakajairika fomu:

Mupunga. 1.2.3 - Vhara dhizaini yeiyo otomatiki control system

Symbol ε(t) kana kuchinja ε(t) inoratidza kusapindirana (kukanganisa) pakubuda kwechishandiso chekuenzanisa, icho chinogona "kushanda" nenzira yeese ari maviri akareruka ekuenzanisa masvomhu (kazhinji kubvisa, kushoma kazhinji kuwedzera) uye zvakanyanya kuoma kuenzanisa mashandiro (maitirwo).

kubva y1(t) = y(t)*k1kupi k1 ndiko kuwana, ipapo ==>
ε(t) = x(t) - y1(t) = x(t) - k1*y(t)

Basa rekutonga system ndere (kana rakagadzikana) "kushanda" kubvisa kusawirirana (kukanganisa) ε(t), i.e. ==> ε(t) → 0.

Izvo zvinofanirwa kucherechedzwa kuti iyo yekudzora sisitimu inobatwa nezvose zviri kunze pesvedzero (kutonga, kuvhiringidza, kupindira) uye kupindira kwemukati. Kupindira kunosiyana nekukanganiswa ne stochasticity (randomness) yehuvepo hwayo, nepo kukanganisa kunenge kunogara kuchigadzirisa.

Kusarudza kutonga (kuseta chiito) isu tichashandisa chero x (T), kana u (T).

1.3. Mitemo inokosha yekudzora

Kana tikadzokera kumufananidzo wekupedzisira (block diagram ye ACS muFig. 1.2.3), zvino zvakakosha "kutsanangura" basa rinoitwa ne-amplification-converting device (inoshanda sei).

Kana iyo amplification-converting mudziyo (ACD) inongowedzera (kana kuderedza) chiratidzo chisina kufanana ε(t), chinoti: kupi - proportionality coefficient (mune imwe nyaya = Const), ipapo nzira yekudzora yakadaro yekuvhara-loop otomatiki control system inonzi modhi proportional control (P-kutonga).

Kana iyo unit yekudzora ikaburitsa chiratidzo chinobuda ε1(t), inoenzana nekanganiso ε(t) uye inosanganisirwa ye ε(t), i.e. , ipapo iyi control mode inonzi zvakaenzana-kubatanidza (PI control). ==> kupi b - proportionality coefficient (mune imwe nyaya b = Const).

Kazhinji, kutonga kwePI kunoshandiswa kuvandudza kutonga (mutemo) kurongeka.

Kana iyo control unit ikaburitsa chiratidzo chinobuda ε1(t), inoenderana nekanganiso ε(t) uye yakabuda, saka iyi modhi inonzi. zvichienzana kusiyanisa (PD control): ==>

Kazhinji, kushandiswa kwePD kutonga kunowedzera kushanda kweAACS

Kana iyo yekudzora unit ikaburitsa chiratidzo chekubuda ε1(t), inoenderana nekanganiso ε(t), inotorwa kubva kwayo, uye yakakosha yekukanganisa ==> , ipapo iyi modhi inodanwa ipapo iyi control mode inonzi proportional-integral-differentiating control mode (PID control).

PID kudzora kazhinji inobvumidza iwe kupa "yakanaka" kutonga kurongeka ne "zvakanaka" kumhanya

1.4. Classification ye otomatiki control system

1.4.1. Kurongwa nemhando yetsanangudzo yemasvomhu

Zvichienderana nerudzi rwetsanangudzo yemasvomhu (equations of dynamics uye statics), otomatiki kudzora masisitimu (ACS) akakamurwa kuita. linear и nonlinear masisitimu (yega-yega pfuti kana SAR).

Imwe neimwe "subclass" (mutsara uye isina mutsetse) yakakamurwa kuita akati wandei e "subclass". Semuenzaniso, linear self-propelled pfuti (SAP) ine misiyano mumhando yerondedzero yemasvomhu.
Sezvo semesita ino ichatarisa masimba emagetsi echete mutsara otomatiki control (regulation) masisitimu, pazasi tinopa kupatsanurwa zvinoenderana nerudzi rwerondedzero yemasvomhu yemutsara otomatiki control system (ACS):

1) Linear otomatiki kudzora masisitimu anotsanangurwa mune yekupinda-yekubuda zvinosiyana neyakajairwa mutsauko equations (ODE) ine zvachose coefficients:

apo x (T) - pesvedzero yekupinda; y (t) -kuburitsa simba (inogadziriswa kukosha).

Kana tikashandisa opareta ("compact") fomu yekunyora mutsara ODE, ipapo equation (1.4.1) inogona kumiririrwa mune inotevera fomu:

kupi, p = d/dt - kusiyanisa mushandisi; L(p), N(p) ndiwo anoenderana mutsara akasiyana-siyana anoshanda, ayo akaenzana ne:

2) Linear otomatiki kudzora masisitimu anotsanangurwa nemutsara wakajairwa musiyano equations (ODE) ne variables (nenguva) coefficients:

Kazhinji, masisitimu akadaro anogona kuverengerwa seasina mutsara otomatiki control system (NSA).

3) Linear otomatiki kudzora masisitimu anotsanangurwa nemutsara musiyano equations:

apo f(…) - mutsara webasa renharo; k = 1, 2, 3... - nhamba dzose; Δt - quantization interval (sampling interval).

Equation (1.4.4) inogona kumiririrwa mu "compact" notation:

Kazhinji, iyi tsananguro yemutsara otomatiki kudzora masisitimu (ACS) inoshandiswa mumadhijitari ekudzora masisitimu (uchishandisa komputa).

4) Linear otomatiki kudzora masisitimu nekunonoka:

apo L(p), N(p) - linear differential operators; τ - kunonoka kana kunonoka nguva dzose.

Kana vashandisi L(p) и N(p) degenerate (L(p) = 1; N(p) = 1), ipapo equation (1.4.6) inoenderana netsanangudzo yemasvomhu yesimba reiyo yakanaka yekunonoka link:

uye mufananidzo wakajeka wezvivakwa zvayo unoratidzwa muFig. 1.4.1

Mupunga. 1.4.1 - Magirafu ekupinza uye kubuda kweiyo yakakodzera kunonoka link

5) Linear otomatiki kudzora masisitimu anotsanangurwa nemutsara mutsauko equation mukati chikamu chinobvamo. Pfuti dzinozvifambisa dzakadaro dzinowanzonzi distributed control systems. ==> Muenzaniso we "abstract" wetsanangudzo yakadai:

System of equations (1.4.7) inotsanangura mafambisirwo eiyo mutsara yakagoverwa otomatiki control system, i.e. huwandu hunodzorwa hunoenderana kwete chete nenguva, asiwo pane imwe nzvimbo yekuronga.
Kana iyo control system iri "spatial" chinhu, ipapo ==>

apo zvinoenderana nenguva uye kurongeka kwenzvimbo kwakatemwa neradius vector

6) Pfuti inozvifambisa yakatsanangurwa zvirongwa ODEs, kana masisitimu emusiyano equation, kana masisitimu echikamu chekusiyanisa equation ==> uye zvichingodaro...

Mutsara wakafanana unogona kutsanangurwa kune nonlinear otomatiki control system (SAP)…

Kune mitsara masisitimu zvinotevera zvinodiwa zvinosangana:

• mutsara weiyo static maitiro eACS;
• mutsara weiyo dynamics equation, i.e. misiyano inosanganisirwa muiyo dynamics equation chete mumutsara musanganiswa.

Chimiro chechimiro ndechekutsamira kwezvinobuda pahukuru hwesimba rekupinza mune yakagadzikana (apo zvese zvenguva pfupi zvapera).

Kune masisitimu anotsanangurwa neane mutsara akajairwa maequation equation ane anogara ari coefficient, iyo static hunhu inowanikwa kubva kune inoshanduka equation (1.4.1) nekumisa mazwi ese asiri-akamira kusvika zero ==>

Mufananidzo 1.4.2 inoratidza mienzaniso yemutsara uye isina mutsara static maitiro e otomatiki control (regulation) masisitimu.

Mupunga. 1.4.2 - Mienzaniso yeakamira mutsara uye asina mutsara maitiro

Nonlinearity yematemu ane anotorwa nguva mune inoshanduka equation anogona kusimuka kana uchishandisa nonlinear masvomhu mashandiro (*, /, , , chivi, ln, etc.). Semuyenzaniso, tichifunga nezve dynamics equation yeimwe “abstract” self-propelled pfuti

Ziva kuti mune ino equation, ine mutsara wakamira hunhu Matemu echipiri neetatu (dynamic terms) kuruboshwe rweequation ari nonlinear, saka iyo ACS inotsanangurwa neyakafanana equation ndeye nonlinear in dynamic plan.

1.4.2. Classification maererano nemhando yezviratidzo zvinotumirwa

Zvichienderana nehunhu hwemasaini anofambiswa, otomatiki control (kana regulation) masisitimu akakamurwa kuita:

• hurongwa hunoramba huripo (inoenderera mberi);
• relay masisitimu (relay chiito masisitimu);
• discrete chiito masisitimu (pulse uye dijitari).

System continuous chiito chinonzi ACS yakadaro, mune imwe neimwe yezvisungo zvayo continuous kuchinja kwechiratidzo chekupinza nekufamba kwenguva zvinoenderana nekuenderera mberi shanduko muchiratidzo chekubuda, nepo mutemo wekuchinja muchiratidzo chekubuda unogona kuve wakapokana. Kuti pfuti inozvifambisa ienderere mberi, zvinodikanwa kuti iyo static maitiro evose ma link aienderera mberi.

Mupunga. 1.4.3 - Muenzaniso weinoenderera sisitimu

System relay chiito chinonzi otomatiki kudzora sisitimu umo mune imwechete link, ine inoenderera shanduko mune yekuisa kukosha, iyo inobuda kukosha pane dzimwe nguva yekudzora maitiro inoshandura "svetuka" zvichienderana nekukosha kwechiratidzo chekuisa. Iyo static hunhu hwekubatana kwakadaro ine break points kana kutsemuka nekutsemuka.

Mupunga. 1.4.4 - Mienzaniso yerelay static maitiro

System discrete chiito ihurongwa umo mune imwe link, ine shanduko inoenderera muhuwandu hwekupinza, huwandu hwekubuda hune. mhando yemafungiro ega ega, kuoneka pashure penguva yakati.

Chibatanidza chinoshandura chiratidzo chinoenderera kuita chiratidzo chakajeka chinonzi pulse link. Rudzi rwakafanana rwemasaini anotapurirwa anoitika mune otomatiki control system ine komputa kana controller.

Nzira dzinowanzo shandiswa (algorithms) yekushandura inoenderera yekuisa siginecha kuita pulsed inobuda chiratidzo ndeiyi:

• pulse amplitude modulation (PAM);
• Pulse width modulation (PWM).

Mumufananidzo. Mufananidzo 1.4.5 inopa mufananidzo wakajeka we pulse amplitude modulation (PAM) algorithm. Pamusoro peFig. kutsamira kwenguva kunoratidzwa x (T) - chiratidzo pamusuwo muchikamu chekukurudzira. Chiratidzo chekubuda chepulse block (link) y (t) - kutevedzana kwerectangular pulses kuoneka ne zvachose quantization nguva Δt (ona chikamu chezasi chemufananidzo). Nguva yezviputi zvakafanana uye yakaenzana ne Δ. Iyo pulse amplitude pakubuda kwebhuroko inoenderana neukoshi hunoenderana hweinoenderera chiratidzo x(t) pakuiswa kwechivharo ichi.

Mupunga. 1.4.5 - Implementation of pulse amplitude modulation

Iyi nzira yekushandura pulse yaive yakajairika mumagetsi ekuyera midziyo yekudzora nekudzivirira masisitimu (CPS) yemagetsi emagetsi enyukireya (NPP) mu70s ... 80s yezana ramakore rapfuura.

Mumufananidzo. Mufananidzo 1.4.6 unoratidza mufananidzo wakajeka we pulse width modulation (PWM) algorithm. Pamusoro peFig. 1.14 inoratidza kutsamira kwenguva x (T) - chiratidzo pane inopinza kune iyo pulse link. Chiratidzo chekubuda chepulse block (link) y (t) - kutevedzana kwerectangular pulses kuoneka nekugara kwe quantization nguva Δt (ona pasi peMufananidzo 1.14). Iyo amplitude yemapulses ese akafanana. Pulse duration Δt pakubuda kwechivharo chinoenzana nekukosha kunoenderana kwechiratidzo chinoenderera x (T) pakupinzwa kwe pulse block.

Mupunga. 1.4.6 - Implementation of pulse width modulation

Iyi nzira ye pulse modulation parizvino ndiyo yakajairika mumagetsi ekuyeresa midziyo yekutonga nekudzivirira masisitimu (CPS) yemagetsi enyukireya magetsi (NPP) uye ACS yemamwe masisitimu ehunyanzvi.

Kupedzisa chikamu ichi, zvinofanirwa kucherechedzwa kuti kana iyo hunhu nguva ichienderera mune mamwe malink ezvipfuti zvinozvifambisa (SAP) zvakanyanya Δt (nemirairo yehukuru), ipapo pulse system inogona kutorwa seanoenderera otomatiki control system (kana uchishandisa zvose AIM uye PWM).

1.4.3. Kurongeka nemasikirwo ekudzora

Zvichienderana nehunhu hwemaitiro ekudzora, otomatiki control masisitimu akakamurwa kuva anotevera marudzi:

• deterministic otomatiki kudzora masisitimu, umo iyo yekuisa chiratidzo inogona kuve yakabatana neinobuda chiratidzo (uye zvinopesana);
• stochastic ACS (nhamba, probabilistic), umo ACS "inopindura" kune yakapihwa chiratidzo chekuisa. random (stochastic) chiratidzo chekubuda.

Iyo inobuda stochastic chiratidzo inoratidzwa ne:

• mutemo wekugovera;
• tarisiro yemasvomhu (avhareji kukosha);
• dispersion (standard deviation).

Iyo stochastic chimiro cheiyo control process inowanzo onekwa mukati chaizvoizvo nonlinear ACS zvose kubva pakuona kwemaitiro e-static, uye kubva pakuona (kunyangwe kusvika pamwero mukuru) wekusagadzikana kwemazwi ane simba mumagetsi ekuenzanisa.

Mupunga. 1.4.7 - Kugovera kukosha kwekubuda kwestochastic automatic control system

Pamusoro pemhando huru dziri pamusoro apa dzekugadzika kwemaitiro ekudzora, kune mamwe maclassification. Semuenzaniso, kupatsanura kunogona kuitwa zvinoenderana nemaitiro ekudzora uye kunoenderana nekudyidzana nekunze nharaunda uye kugona kugadzirisa iyo ACS kune shanduko yezvakatipoteredza paramita. Masisitimu akakamurwa kuita makirasi maviri makuru:

1) Yakajairika (isina-kuzvigadzirisa) kudzora masisitimu pasina kuchinjika; Aya masisitimu ndeechikamu cheakareruka ayo asingashandure chimiro chavo panguva yekutonga maitiro. Ndidzo dzakanyanya kugadziridzwa uye dzinoshandiswa zvakanyanya. Masisitimendi ekudzora masisitimu akakamurwa kuita matatu madiki: yakavhurika-loop, yakavharwa-loop uye yakasanganiswa kutonga masisitimu.

2) Self-adjusting (adaptive) control systems. Mune aya masisitimu, kana mamiriro ekunze kana maitiro echinhu chinodzorwa achichinja, otomatiki (kwete kufanotemerwa) shanduko mumaparamita emuchina wekudzora inoitika nekuda kwekuchinja kweiyo control system coefficients, control system chimiro, kana kunyangwe kuunzwa kwezvinhu zvitsva. .

Mumwe muenzaniso wekugadzika: maererano nenheyo yepamusoro (imwe-level, maviri-level, multi-level).

Vashandisi vakanyoresa chete ndivo vanogona kutora chikamu muongororo. Nyorera mu, Munogamuchirwa.

Ramba uchiburitsa zvidzidzo paUTS?

• 88,7%Hongu118

• 7,5%No10

• 3,8%handizivi5

133 vashandisi vakavhota. 10 vashandisi vakaramba.

Source: www.habr.com